version: 66.11
glider: 187
mission: 2
dive: 77
start: 9 30 112 22 1 30
data:
$ID,187
$MISSION,2
$DIVE,77
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,200
$D_BOOST,4
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,450
$T_MISSION,500
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51761
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0031000001
$HD_B,0.0093
$HD_C,4.5000001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1587714.9
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,155
$PITCH_MAX,3970
$C_PITCH,3195
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,32
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,236
$ROLL_MAX,3800
$ROLL_DEG,40
$C_ROLL_DIVE,2175
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3960
$C_VBD,2794
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-61.06522
$PRESSURE_SLOPE,0.0001138132
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,12
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.69999999
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043543722
$SEABIRD_T_H,0.00062483409
$SEABIRD_T_I,2.3277114e-05
$SEABIRD_T_J,2.4402393e-06
$SEABIRD_C_G,-9.9786949
$SEABIRD_C_H,1.1107863
$SEABIRD_C_I,-0.0017547003
$SEABIRD_C_J,0.0002234884
$GPS1,300912,215529,4750.617,-12515.072,34,1.2,45,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-79.7
$GPS2,300912,220100,4750.657,-12515.048,14,1.2,14,18.7
$SPEED_LIMITS,0.127,0.220
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.160,-0.151
$KALMAN_X,28840.3,-242.5,2380.9,-124483.9,-7867.0
$KALMAN_Y,16218.2,688.6,-1323.7,-71650.8,4158.7
$MHEAD_RNG_PITCHd_Wd,62.3,26188,-13.4,-7.333,-18.42
$D_GRID,343
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.48,-146.0,0.0,0.0,0,79,0.00,0.00,-59.45,0.000,2,0.000,0.000,116,2173,2799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.48,-146.0,3.2,-4.0,10,117,11.20,2.25,-12.23,0.000,4,0.222,0.070,3033,781,3394,0,0,0,0,0,0,25.42,25.69,26.03
$GC,347,-0.48,-146.0,52.8,-14.5,58,354,0.00,2.20,0.00,0.000,6,0.000,0.050,3025,2177,3398,0,0,0,0,0,0,28.83,25.86,28.83
$GC,670,-0.48,-146.0,97.6,-12.7,119,677,0.00,2.15,0.00,0.000,4,0.000,0.049,3025,776,3400,0,0,0,0,0,0,28.83,25.98,28.83
$GC,710,-0.48,-146.0,102.8,-12.7,126,717,0.00,2.17,0.00,0.000,6,0.000,0.050,3016,2187,3400,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1025,-0.48,-146.0,144.9,-13.5,163,1030,0.00,2.15,0.00,0.000,4,0.000,0.062,3006,3576,3400,0,0,0,0,0,0,28.83,26.04,28.83
$GC,1069,-0.48,-146.0,151.1,-13.8,166,1076,0.12,2.12,0.00,0.000,6,0.139,0.043,3040,2174,3400,0,0,0,0,0,0,25.99,26.10,28.83
$GC,1388,-0.48,-146.0,186.4,-10.4,187,1393,0.00,2.20,0.00,0.000,4,0.000,0.063,3032,3581,3400,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1409,-0.48,-146.0,188.0,-10.2,188,1418,0.00,2.17,0.00,0.000,6,0.000,0.044,3031,2170,3400,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1721,-0.48,-146.0,220.2,-10.0,206,1726,0.00,2.12,0.00,0.000,4,0.000,0.050,3031,775,3399,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1769,-0.48,-146.0,224.4,-10.3,208,1773,0.00,2.12,0.00,0.000,6,0.000,0.050,3023,2174,3400,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2076,-0.48,-146.0,256.8,-10.2,223,2082,0.00,2.20,0.00,0.000,4,0.000,0.063,3012,3584,3399,0,0,0,0,0,0,28.83,26.16,28.83
$GC,2144,-0.48,-146.0,263.0,-10.3,226,2148,0.00,2.12,0.00,0.000,6,0.000,0.044,3012,2172,3399,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2453,-0.48,-146.0,294.5,-10.0,241,2454,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2167,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2751,-0.48,-146.0,324.6,-10.2,256,2755,0.00,2.12,0.00,0.000,4,0.000,0.051,3012,778,3398,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2796,-0.48,-146.0,328.8,-10.2,258,2801,0.12,2.12,0.00,0.000,6,0.151,0.051,3038,2174,3398,0,0,0,0,0,0,26.15,26.25,28.83
$STATE,2986,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2986,begin apogee
$GC,2993,-0.22,0.0,343.8,-7.5,268,3116,0.25,0.00,118.62,0.785,6,0.119,0.000,3124,2316,2793,0,0,0,0,0,0,26.17,28.83,24.24
$STATE,3119,end apogee,CONTROL_FINISHED_OK
$STATE,3119,begin climb
$GC,3122,0.48,146.0,348.6,0.0,274,3254,0.65,2.33,122.35,0.757,4,0.091,0.050,3352,905,2196,0,0,0,0,0,0,24.87,24.56,23.99
$GC,3282,0.49,173.6,341.6,6.3,283,3311,0.00,2.25,23.52,0.735,6,0.000,0.051,3352,2294,2085,0,0,0,0,0,0,28.83,24.87,24.12
$GC,3621,0.49,173.6,311.6,9.0,300,3627,0.00,2.28,0.00,0.000,4,0.000,0.065,3352,3706,2077,0,0,0,0,0,0,28.83,25.51,28.83
$GC,3668,0.49,173.6,307.5,9.7,302,3672,0.00,2.20,0.00,0.000,6,0.000,0.045,3361,2304,2077,0,0,0,0,0,0,28.83,25.60,28.83
$GC,3977,0.49,173.6,278.2,9.2,317,3982,0.00,2.17,0.00,0.000,4,0.000,0.054,3372,894,2077,0,0,0,0,0,0,28.83,25.79,28.83
$GC,4023,0.49,173.6,274.5,9.2,319,4028,0.00,2.20,0.00,0.000,6,0.000,0.052,3371,2306,2076,0,0,0,0,0,0,28.83,25.81,28.83
$GC,4330,0.49,173.6,243.4,9.8,334,4336,0.00,2.22,0.00,0.000,4,0.000,0.065,3371,3708,2076,0,0,0,0,0,0,28.83,25.91,28.83
$GC,4399,0.49,173.6,236.8,10.8,337,4403,0.00,2.17,0.00,0.000,6,0.000,0.047,3381,2300,2076,0,0,0,0,0,0,28.83,25.98,28.83
$GC,4707,0.49,173.6,204.8,9.8,352,4712,0.00,2.22,0.00,0.000,4,0.000,0.065,3381,3705,2075,0,0,0,0,0,0,28.83,26.01,28.83
$GC,4735,0.49,173.6,202.7,9.9,353,4745,0.15,2.17,0.00,0.000,6,0.149,0.047,3350,2289,2075,0,0,0,0,0,0,25.94,26.06,28.83
$GC,5054,0.49,177.2,176.3,7.2,374,5060,0.00,2.12,0.00,0.000,4,0.000,0.054,3359,902,2074,0,0,0,0,0,0,28.83,26.09,28.83
$GC,5108,0.49,177.9,172.9,7.3,377,5115,0.00,2.15,0.00,0.000,6,0.000,0.052,3358,2301,2073,0,0,0,0,0,0,28.83,26.09,28.83
$GC,5414,0.50,195.4,151.1,6.7,398,5436,0.00,2.25,17.45,0.663,4,0.000,0.063,3359,3715,1996,0,0,0,0,0,0,28.83,25.89,25.26
$GC,5485,0.50,195.4,145.5,7.8,402,5491,0.00,2.17,0.00,0.000,6,0.000,0.047,3368,2296,1993,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5795,0.50,195.4,119.0,9.3,424,5803,0.00,2.30,0.00,0.000,4,0.000,0.065,3368,3706,1991,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5816,0.50,195.4,117.1,8.8,427,5823,0.00,2.17,0.00,0.000,6,0.000,0.047,3377,2293,1990,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6136,0.50,195.4,88.6,8.8,488,6144,0.00,2.30,0.00,0.000,4,0.000,0.064,3377,3707,1990,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6183,0.50,195.4,84.1,9.1,496,6192,0.00,2.20,0.00,0.000,6,0.000,0.047,3386,2298,1989,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6509,0.50,195.4,61.6,7.7,557,6516,0.12,2.17,0.00,0.000,4,0.155,0.051,3355,887,1989,0,0,0,0,0,0,26.09,26.14,28.83
$GC,6566,0.50,203.1,57.7,7.0,567,6581,0.00,2.17,6.78,0.535,6,0.000,0.052,3355,2307,1965,0,0,0,0,0,0,28.83,26.15,25.39
$GC,6894,0.54,293.7,39.0,3.8,629,6975,0.00,2.30,73.00,0.603,4,0.000,0.063,3355,3713,1594,0,0,0,0,0,0,28.83,25.30,24.80
$GC,7005,0.57,372.7,34.7,4.3,647,7074,0.00,2.25,62.05,0.581,6,0.000,0.045,3355,2294,1273,0,0,0,0,0,0,28.83,25.44,24.47
$STATE,7356,end climb,SURFACE_DEPTH_REACHED
$STATE,7356,begin surface coast
$FINISH,1.0,1.011616
$STATE,7404,end surface coast,CONTROL_FINISHED_OK
$STATE,7405,begin surface
$SM_CCo,7484,0.00,0.000,0,0,1261,376.04
$SM_GC,2.02,8.32,0.17,0.00,0.027,0.077,0.000,120,2169,1261,-9.45,1.19,376.04,0,0,0,0,0,0,25.75,25.70,28.83
$IRIDIUM_FIX,4732.49,-12512.13,300912,191933
$TT8_MAMPS,0.027713,0.027713
$HUMID,43.54
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,15.00
$XPDR_PINGS,2
$24V_AH,24.0,13.066
$10V_AH,10.2,11.443
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,20.950,79.425,423.775,0.000,0.000,27.934,45.325,144.209,0.500,0.000,14.889,1776.099,3723.227,444.787,1690.321,185.815,0.000,1202.373,0.000,1458.501,0.000,0.536,0.000
$DEVICE_MAMPS,221.850,81.855,784.890,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,491.789,484.688,502.239,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296968
$DATA_FILE_SIZE,40188,721
$CAP_FILE_SIZE,85543,0
$CFSIZE,260165632,250757120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.158,308.3,1
$GPS,011012,000730,4751.110,-12514.153,38,1.2,39,18.7